含消极运动副的单闭环非过约束机构构型设计  

Configuration Design of Single Closed-loop Non-overconstrained Mechanisms with Inactive Joints

作　　者：刘勇 许勇 王威 刘佳莉 施浩然 Liu Yong;Xu Yong;Wang Wei;Liu Jiali;Shi Haoran(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《机械科学与技术》2020年第6期836-843,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：上海高校中青年教师国外访学进修计划项目(2018622);上海市2018年第一批工业互联网创新发展专项(201822930);上海市研究生科研创新计划项目(E3-0903-18-01020)资助。

摘　　要：为减弱过约束机构中严格的运动副轴线间几何约束关系,降低机构的装配误差和难度,提出一种引入消极运动副的单闭环非过约束机构构型设计方法。给出了引入消极运动副的非过约束机构自由度分析方法、非过约束机构的设计原理及设计流程。针对过约束Goldberg机构,通过在同一转动副中添加2个消极运动副R,得到非过约束Goldberg机构RSRRR。通过螺旋理论证明了过约束/非过约束Goldberg机构在运动学上完全等效,并对非过约束Goldberg机构输入输出运动参数求解,从而验证了本文提出的单闭环非过约束机构构型设计方法的正确性。In order to weaken the strict geometric constraint relationship between the axes of the kinematic pairs in the overconstrained mechanism and reduce the assembly error and difficulty of the mechanism,a single closed-loop nonoverconstrained mechanism configuration design method with inactive joints is proposed.The degree of freedom analysis method of non-overconstrained mechanism with inactive joints is presented.For overconstrained Goldberg mechanism,the nonoverconstrained Goldberg mechanism RSRRR is obtained by adding two inactive joints to a single rotation pair.The screw theory proves that the overconstrained/non-overconstrained Goldberg mechanism is completely equivalent in kinematics,and input and output motion parameters of non-overconstrained Goldberg mechanism is studied,so as to verify the correctness of the single closed-loop configuration design method of the non-overconstrained Goldberg mechanism proposed in this paper.

关 键 词：非过约束 消极运动副 构型设计 Goldberg机构 

分 类 号：TH112[机械工程—机械设计及理论]